| The stable supply of power resources is the basic guarantee of social production.With the demand of social and economic development and people's pursuit of power reliability,the power grid system is becoming increasingly large and complex.Therefore,the frequent failure of power supply system poses greater challenges to the security,reliability and economic and environmental protection of power supply.Modern electric power maintenance equipment is gradually developing towards automation and intellectualization.Under this background,live working manipulator emerges as the times require.It can not only replace manual work to complete live maintenance work under harsh and dangerous working conditions,but also effectively improve working efficiency and ensure workers' safety.The high altitude southwest region usually has such environmental characteristics as dry air and long duration of windy season.At present,there are few design studies on live-working manipulators in Plateau and mountainous areas in our country,so it is of great engineering application value to carry out relevant research on such live-working manipulators.In this paper,the design and research of live working manipulator for 10 kV and below lines working in plateau mountainous areas are carried out.Based on IDEF0 method,the overall design and composition of live working manipulator are analyzed,including the design and analysis of the main body of the manipulator,the composition and function of the mobile platform for aerial working,and the working principle and function of the special tools for live working.Aiming at the tooling of clamping mechanism of live-working manipulator,the mode of self-rotating tool selection is designed,which includes clamping end,cutting tool and pressing end.It saves the time of replacing tools for these high frequency continuous tasks,reduces the error caused by the manipulator's reorientation and improves the working efficiency.Because the pneumatic transmission has the advantages of easy access to air source,no pollution to the environment,low cost and easy maintenance,the pneumatic drive is selected as the end-effector of the live working manipulator,and the pneumatic circuit is designed and analyzed to complete the selection of its pneumatic components.A pneumatic proportional control system is composed of a pneumatic proportional valve and a cylinder with strong anti-pollution ability.Its mathematical model is deduced and established to verify the stability of the mathematical model,and the parameters that influence the stability of the system to varying degrees are analyzed.By comparing the effects of different correction methods,the genetic algorithm is selected to adjust the PID parameters.The simulation results show that the response speed and accuracy of the system are significantly improved,the response process is more stable,and the dynamic and static characteristics of the system are significantly improved.In view of the clamping mechanism of the live working manipulator,the stiffness and strength of the important parts and the whole structure are checked to meet the design requirements,and the displacement,velocity and acceleration changes of the main moving joints and the end fingers are analyzed.The results show that there is no obvious impact between the various mechanisms,which meets the performance requirements.The kinematics model of the six-degree-of-freedom manipulator is established,the workspace of the manipulator is simulated and analyzed by Monte Carlo method,and the motion law and stress state of the model are analyzed by ADAMS,which verifies that it can fulfill the motion requirements of the motion posture within the allowable range of the joint angle.According to the working environment of live-working manipulator,considering the altitude and wind-sand conditions,suitable and effective insulation materials and insulation technology are selected to protect live-working manipulator from insulation. |
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